cmake_minimum_required(VERSION 2.8.3)
project(plan_manage)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++14")
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall")

find_package(Eigen3 REQUIRED)
find_package(PCL 1.7 REQUIRED)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  geometry_msgs
  quadrotor_msgs
  poly_traj
  plan_env
  path_searching
  bspline
  bspline_opt
  traj_utils
  active_perception
  cv_bridge
)


catkin_package(
 INCLUDE_DIRS include
 LIBRARIES plan_manage
 CATKIN_DEPENDS plan_env path_searching bspline bspline_opt active_perception traj_utils)

include_directories(
  include
  SYSTEM
  ${catkin_INCLUDE_DIRS} ${PROJECT_SOURCE_DIR}/include
  ${EIGEN3_INCLUDE_DIR}
  ${PCL_INCLUDE_DIRS}
)


#add_executable(fast_planner_node
#  src/fast_planner_node.cpp
#  src/kino_replan_fsm.cpp
#  src/topo_replan_fsm.cpp
#  test/local_explore_fsm.cpp
#  src/planner_manager.cpp
#  src/planner_manager_dev.cpp
#  )
#target_link_libraries(fast_planner_node
#  ${catkin_LIBRARIES}
#  -ldw
#  )
#

add_library(plan_manage
  src/planner_manager.cpp
  )
target_link_libraries(plan_manage
    ${catkin_LIBRARIES})

#
#add_executable(traj_server src/traj_server.cpp)
#target_link_libraries(traj_server ${catkin_LIBRARIES} -ldw)
#
#add_executable(proc_msg
#    test/process_msg.cpp
#)
#target_link_libraries( proc_msg
#    ${catkin_LIBRARIES}
#    ${PCL_LIBRARIES}
#    )
#
#add_executable(proc_msg2
#    test/process_msg2.cpp
#)
#target_link_libraries( proc_msg2
#    ${catkin_LIBRARIES}
#    ${PCL_LIBRARIES}
#    )
